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Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion
2019
2019 International Conference on Robotics and Automation (ICRA)
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. We apply the Convolutional Neural Network to learn the relationship between the local elevation map and the quality of potential footholds. The proposed network evaluates the geometrical characteristics of each cell on the elevation map, checks kinematic constraints and collisions. During execution
doi:10.1109/icra.2019.8793801
dblp:conf/icra/BelterBLXM19
fatcat:x7dxm4elmffejh5q3twkdbiuiy